// Find a trajectory for which the trajectory's y is at least as high as any
// of the vertices remaining in _edgesOnPrincipalPlane.
private float GetTimeToTargetOnIntersection(
PrincipalSpace3D principalSpace3D,
PrincipalTrajectory principalTrajectory,
Vector2 principalTargetPosition)
{
for (int index = 0; index < _edgesOnPrincipalPlane.vertexCount; index += 2)
{
if (_edgeClassifier.CrossesXBound(
_edgesOnPrincipalPlane.vertices[index],
_edgesOnPrincipalPlane.vertices[index + 1]))
{
return(0);
}
}
float timeToTarget = 0.0f;
for (int index = 0; index < _edgesOnPrincipalPlane.vertexCount; index += 2)
{
Vector2 vertex = _edgesOnPrincipalPlane.vertices[index];
if (principalTrajectory.PositionYAtX(vertex.x) < vertex.y)
{
/*
* Debug.DrawLine(principalSpace3D.p0,
* principalSpace3D.p0 + principalSpace3D.xAxis * vertex.x + principalSpace3D.yAxis * vertex.y,
* Color.grey);
*/
timeToTarget = PrincipalTimePlanners.GetTimeToTargetRGivenIntermediatePositionQ(
principalTrajectory,
principalTargetPosition,
vertex);
principalTrajectory.v0 =
principalTrajectory.GetInitialVelocityGivenRelativeTargetAndTime(
principalTargetPosition, timeToTarget);
}
}
return(timeToTarget);
}
